public static Vector3 From(this Point32Msg self, CoordinateSpaceSelection selection)
{
switch (selection)
{
case CoordinateSpaceSelection.RUF:
return(self.From <RUF>());
case CoordinateSpaceSelection.FLU:
return(self.From <FLU>());
case CoordinateSpaceSelection.FRD:
return(self.From <FRD>());
case CoordinateSpaceSelection.ENU:
return(self.From <ENU>());
case CoordinateSpaceSelection.NED:
return(self.From <NED>());
case CoordinateSpaceSelection.ENULocal:
return(self.From <ENULocal>());
case CoordinateSpaceSelection.NEDLocal:
return(self.From <NEDLocal>());
default:
Debug.LogError("Invalid coordinate space " + selection);
return(self.From <RUF>());
}
}
public static void GUI(this Point32Msg message, string name)
{
string body = $"[{message.x:F2}, {message.y:F2}, {message.z:F2}]";
if (name == null || name == "")
{
GUILayout.Label(body);
}
else
{
GUILayout.Label($"{name}: {body}");
}
}
public PointCloudMsg(JSONNode msg)
{
_header = new HeaderMsg(msg["header"]);
_points = new Point32Msg[msg["points"].Count];
for (int i = 0; i < _points.Length; i++)
{
_points[i] = new Point32Msg(msg["points"][i]);
}
_channels = new ChannelFloat32[msg["clannels"].Count];
for (int i = 0; i < _channels.Length; i++)
{
_channels[i] = new ChannelFloat32(msg["clannels"][i]);
}
}
public static void GUI(this Point32Msg message)
{
GUILayout.Label($"[{message.x:F2}, {message.y:F2}, {message.z:F2}]");
}
public static Vector3 From <C>(this Point32Msg self) where C : ICoordinateSpace, new()
{
return(new Vector3 <C>(self.x, self.y, self.z).toUnity);
}
